/*
 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "geometry_msgs/Twist.h"

#include <sstream>
#include <string.h>
#include "test_main.h"
#include "xun_fei_angle_check/xunfei.h"

int check_coming=0;
xun_fei_angle_check::xunfei ang;

void chatterCallback(geometry_msgs::Twist msg)
{
      int anglee=-1;
      char command[]="READ_ANGLE";

      if(msg.linear.y==1)
      {
          anglee=xun_fei_check_anglee(command,1);
          ang.angle=anglee;
          ROS_INFO("angle %d",anglee);
          check_coming=1;
      }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "xf_angle_check");

  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe<geometry_msgs::Twist>("chatter", 1000, chatterCallback);

    ros::Publisher cmd_pub = n.advertise<xun_fei_angle_check::xunfei>("xunfei/angle_check", 1000);

    ros::Rate loop_rate(10);

    while (ros::ok())
    {
      if(check_coming==1)
      {
          check_coming=0;
          cmd_pub.publish(ang);
      }

      ros::spinOnce();

      loop_rate.sleep();
    }

    return 0;
}
